Path tracking anti-saturation robust control method for under-actuated water surface ship
A path tracking and robust control technology, applied in non-electric variable control, two-dimensional position/channel control, vehicle position/route/altitude control, etc. Consider the tracking error constraint problem and other issues to achieve the effect of high tracking accuracy and improved tracking accuracy
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 The invention will be further described below with reference to the accompanying drawings.
 The present invention proposes an underflush driving water surface trace control problem for underlying water scholars in the model uncertainty, unknown external environmental interference, time-varying side, and performer input restriction, and tracking error. The path track of the water surface ship tracking anti-saturated robust control method. First, consider the problem of tracking error, the error is designed by the obstacle Li Yapuov function, and the side slip angle is compensated by the side sliding angle, and the tracking error will not be exceeded In the range, the path tracking accuracy of the underwater water vessel is improved; secondly, the path tracking robust controller is designed by the anti-stepping method, and the interference observer is used to observe unknown synthesis interference in the system, in order to avoid saturation of the actuator Introducing...
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